Design and Experimental Validation of a Magnetically Actuated Fin-Based Propulsion Mechanism for Underwater Remotely Operated Vehicles (UROVs)

Abstract

This research presents a novel hybrid underwater propulsion and control system that integrates a magnetically coupled transmission mechanism with bioinspired fin-based actuation to enable full six-degree-of-freedom (6-DOF) maneuverability using significantly lower power compared to traditional thruster-based designs. A rare-earth magnet-based coupling transmits torque from internal servo motors to external control fins without penetrating the sealed submersible hull, thereby preserving structural integrity and eliminating the risk of leaks. The fin actuators manage pitch, roll, and yaw control, while a single electric thruster provides primary propulsion.

This design reduces energy consumption, system complexity, and overall weight, offering a compelling alternative to conventional underwater vehicles that typically employ multiple independent thrusters for 6-DOF control. By transferring control authority to streamlined, low-drag fin mechanisms powered via magnetically isolated shafts, the system achieves precise, efficient maneuvering with minimal power overhead. The non-magnetic interface ensures reliable pressure-sealed operation at depth, making the solution ideal for compact autonomous underwater vehicles (AUVs) engaged in long-duration or confined-space missions.

Preliminary simulations involving fluid dynamics, structural stress, and control optimization validate the coupling efficiency and actuation performance. The results support a new propulsion architecture that enhances underwater endurance and agility, extending the operational capabilities of next-generation AUVs.